VSAG/vision_sjtu_19
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反陀螺v2.0

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xinyang
2019-08-09 01:24:58 +08:00
parent faae07b5b3
commit 65a55353d6
8 changed files with 90 additions and 67 deletions
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8
main.cpp
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@@ -32,7 +32,7 @@ McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台pitch角
ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位
1, // 是否启用数字识别
0, // 是否为反陀螺模式
ENEMY_RED, // 敌方颜色
0, // 能量机关x轴补偿量
0, // 能量机关y轴补偿量
@@ -44,7 +44,7 @@ WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
Serial serial(115200); // 串口对象
uint8_t last_state = INIT_STATE; // 上次状态，用于初始化
// 自瞄主程序对象
ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.anti_top);
// 能量机关主程序对象
Energy energy(serial, mcu_data.enemy_color);
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/1.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/1.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");